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Research Papers

Dynamic Displacements for Electromechanical Integrated Electrostatic Harmonic Drive

[+] Author and Article Information
Lizhong Xu1

Mechanical Engineering Institute, Yanshan University, Qinhuangdao 066004, P.R.C.xlz@ysu.edu.cn

Lei Qin

Mechanical Engineering Institute, Yanshan University, Qinhuangdao 066004, P.R.C.

1

Corresponding author.

J. Comput. Nonlinear Dynam 3(3), 031007 (Apr 30, 2008) (11 pages) doi:10.1115/1.2908352 History: Received March 31, 2007; Revised January 28, 2008; Published April 30, 2008

The electromechanical integrated electrostatic harmonic drive is a new drive system invented by authors. The dynamic displacements of the flexible ring for the drive have important influence on operating performance of the drive system. In this paper, the three dimensional dynamic equations for the drive system are presented. The mode function equations and the frequency equation for the drive system are derived. The natural frequencies and dynamic displacements of the drive system are obtained. Using a finite element method analysis package, ANSYS , the natural frequencies and vibrating modes of the flexible ring for the drive system are simulated. The simulation results are compared to the analytical results above. The research is useful in design and manufacture of the drive system and can be used to design dynamic performance of the drive.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

An electromechanical integrated harmonic drive ((1) flexible ring and (2) outer ring stator): (a) schematic and (b) structure drawing for the drive

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Figure 2

The coordinate systems for the force analysis of the flexible ring

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Figure 3

The displacements in the flexible ring

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Figure 4

The forces inside the shell

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Figure 5

The dynamic displacement distribution on the ring (m′=2, n=2)

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Figure 6

The dynamic displacement distribution on the ring (m′=3, n=3)

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Figure 7

(a) Changes of the dynamic displacements with respect to voltage vi0, (b) changes of the dynamic displacements with respect to clearance δ, (c) changes of the dynamic displacements with respect to radius r, and (d) changes of the dynamic displacements with respect to width l

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Figure 8

FEM model of the flexible ring

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Figure 9

Vibrating modes (m′=2, n=2)

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Figure 10

Vibrating modes (m′=3, n=3)

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